/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file           : main.c
  * @brief          : Main program body
  ******************************************************************************
  * @attention
  *
  * Copyright (c) 2025 STMicroelectronics.
  * All rights reserved.
  *
  * This software is licensed under terms that can be found in the LICENSE file
  * in the root directory of this software component.
  * If no LICENSE file comes with this software, it is provided AS-IS.
  *
  ******************************************************************************
  */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "i2c.h"
#include "tim.h"
#include "gpio.h"
#include "i2c.h"
#include "CSB.h"
#include "kalman.h"
#include "oled.h"
#include "SEG.h"
#include "KEY.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */

/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */

/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/

/* USER CODE BEGIN PV */

/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
/* USER CODE BEGIN PFP */

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */

/* USER CODE END 0 */
/**
  * @brief  The application entry point.
  * @retval int
  */
  
  typedef enum {
    IDLE,               // 空闲状态（允许检测）
    FIRST_TRIGGERED,    // 首次触发（等待二次触发）
    COOLDOWN            // 冷却中（1秒内禁止检测）
  } State;

  State distance_state = IDLE;
  uint32_t last_trigger_time = 0;  // 最后一次触发的时间戳（单位ms）
  float Init_X=0,Init_R=0;
  KalmanFilter KRM_distance;
  uint16_t CSB_Flag=0;
  uint32_t first_trigger_time = 0;
  uint32_t measured_interval = 0;
  uint8_t time_flag=0;
  extern uint16_t Filter_DATA;

int main(void)
{

  /* USER CODE BEGIN 1 */

  /* USER CODE END 1 */

  /* MCU Configuration--------------------------------------------------------*/

  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  HAL_Init();

  /* USER CODE BEGIN Init */

  /* USER CODE END Init */

  /* Configure the system clock */
  SystemClock_Config();

  /* USER CODE BEGIN SysInit */

  /* USER CODE END SysInit */
  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  /* USER CODE BEGIN 2 */
  OLED_Init();
  /* USER CODE END 2 */
  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  KEY_GPIO_Init();
  HC_SR04_Init();
  HAL_TIM_Init();
  KalmanFilter_Init(&KRM_distance,0.1,2,200,0);
  uint16_t c=0,lignt_D=0,TR_flag=1;
  enable_software_i2c();
  TM1637_display(0,0,0,0,1, 1);

  
    while(1) {
		uint32_t current_time = HAL_GetTick();
        uint8_t key_val = Key_Scan();
        if(key_val & 0x01) 
		{              
			//清零并停止计时器
            // 按键1按下事件
			ResetTimer();
			TR_flag=1;
			distance_state = IDLE;
			Buzzer_HIGN(1);
			current_time=0;
			last_trigger_time=0;
        }
		
        if(key_val & 0x02) 
		{               //控制亮度
            // 按键2按下事件
			lignt_D++;
			if(lignt_D>=5)
			{lignt_D=0;}
			
        }
        if(key_val & 0x04) 
		{               
			//模式切换
            // 按键3按下事件
		    KEY_Lignt();
			if(c%2==0)
			{SwitchMode(MODE_PRECISE);}    //精准
			else 
			{SwitchMode(MODE_ROUGH);}	
			c++;
			TR_flag=1;
			distance_state = IDLE;
        }
        if (distance_state != COOLDOWN && Filter_DATA < 50&&TR_flag==1) {      //如果不是冷却并且触发
           if (distance_state == IDLE) {                            //并且空闲中
               // 首次触发
            last_trigger_time = current_time;
			distance_state = COOLDOWN;     // 进入冷却
			HAL_TIM_Base_Start_IT(&htim4);

         // 其他操作（如启动某些动作）
             } 
            else if (distance_state == FIRST_TRIGGERED) {           //并且已经触发过一次
        // 二次触发
			  HAL_TIM_Base_Stop_IT(&htim4);
			  Buzzer_Success();
              TR_flag=0;
               }
              } 
	    Filter_DATA=KalmanFilter_Update(&KRM_distance,data);

//*******************************************************************************		
       if (distance_state == COOLDOWN) {             //计时中
    // Check if within the 2-4 second window
              if (1000 < current_time - last_trigger_time && (current_time - last_trigger_time < 3000)) 
			  {
               if (Filter_DATA > 100) {
                time_flag = 1;  // Mark that we've seen a value >100 in this window
                  }
                 }
    
				 
    // Check for timeout condition (4 seconds elapsed with no >100 reading)
            if (current_time - last_trigger_time >= 3000) {
              if (time_flag == 0) {
         // 超时处理
               ResetTimer();
               TR_flag = 1;
               distance_state = IDLE;
               Buzzer_HIGN(40);
              data = 200;
             } else if (Filter_DATA < 50) {
        // 正常触发
        distance_state = FIRST_TRIGGERED;
        time_flag = 0;
          }
       }
                 
        }

	   

//	    OLED_ShowNum(3,1,data,3);
//	    OLED_ShowNum(2,1,Filter_DATA,3);

        SplitTimeDigits(&digit);
		if(c%2==1)
        {TM1637_display(digit.sec_ten,  digit.sec_unit,  digit.ms_hundred,  digit.ms_ten,1,  lignt_D);}
		else
	    {TM1637_display(digit.min_ten,  digit.min_unit,  digit.sec_ten,  digit.sec_unit,1,  lignt_D);}
    /* USER CODE BEGIN 3 */
}}
  /* USER CODE END 3 */


/**
  * @brief System Clock Configuration
  * @retval None
  */
void SystemClock_Config(void)
{
  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

  /** Initializes the RCC Oscillators according to the specified parameters
  * in the RCC_OscInitTypeDef structure.
  */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
  RCC_OscInitStruct.HSEState = RCC_HSE_ON;
  RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1;
  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
  RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL9;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    Error_Handler();
  }

  /** Initializes the CPU, AHB and APB buses clocks
  */
  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
  {
    Error_Handler();
  }
}

/* USER CODE BEGIN 4 */

/* USER CODE END 4 */

/**
  * @brief  This function is executed in case of error occurrence.
  * @retval None
  */
void Error_Handler(void)
{
  /* USER CODE BEGIN Error_Handler_Debug */
  /* User can add his own implementation to report the HAL error return state */
  __disable_irq();
  while (1)
  {
  }
  /* USER CODE END Error_Handler_Debug */
}

#ifdef  USE_FULL_ASSERT
/**
  * @brief  Reports the name of the source file and the source line number
  *         where the assert_param error has occurred.
  * @param  file: pointer to the source file name
  * @param  line: assert_param error line source number
  * @retval None
  */
void assert_failed(uint8_t *file, uint32_t line)
{
  /* USER CODE BEGIN 6 */
  /* User can add his own implementation to report the file name and line number,
     ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
  /* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */
////	for(int i=0;i<21;i++)
//		{
//			if(i<=17)
//			{
//				TM1637_display(i,i+1,i+2,i+3,1);    
//			}
//			else if(i==18)
//			{
//				TM1637_display(i,i+1,i+2,1,1);
//			}
//			else if(i==19)
//			{
//				TM1637_display(i,i+1,1,2,1);
//			}
//			else if(i==20)
//			{
//				TM1637_display(i,1,2,3,1);
//			}
//			
//			HAL_Delay(1000);
//			
//		}


